We argue that traditional identity-based systems from pairings seem unsuitable for designing group signature schemes due to the problem of key escrow. In this paper we first propose new ID-based public key systems without trusted PKG (Private Key Generator) from bilinear pairings. In our new ID-based systems, if the dishonest PKG impersonates an honest user to communicate with others, the user can provide a proof of treachery of the PKG afterwards, which is similar to certificate-based systems. Therefore, our systems reach the Giraults trusted level 3. We then propose a group signature scheme under the new ID-based systems, the security and performance of which rely on the new systems. The size of the group public key and the length of the signature are independent on the numbers of the group.